A reconfigurable hybrid intelligent system for robot navigation

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Abstract

Soft computing has come of age to o er us a wide array of powerful and e cient algorithms
that independently matured and in
uenced our approach to solving problems in robotics,
search and optimisation. The steady progress of technology, however, induced a
ux of new
real-world applications that demand for more robust and adaptive computational paradigms,
tailored speci cally for the problem domain. This gave rise to hybrid intelligent systems, and
to name a few of the successful ones, we have the integration of fuzzy logic, genetic algorithms
and neural networks. As noted in the literature, they are signi cantly more powerful than
individual algorithms, and therefore have been the subject of research activities in the past
decades. There are problems, however, that have not succumbed to traditional hybridisation
approaches, pushing the limits of current intelligent systems design, questioning their solutions
of a guarantee of optimality, real-time execution and self-calibration. This work presents an
improved hybrid solution to the problem of integrated dynamic target pursuit and obstacle
avoidance, comprising of a cascade of fuzzy logic systems, genetic algorithm, the A* search
algorithm and the Voronoi diagram generation algorithm.